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+
+Game Engine bge.constraints Module
+==================================
+
+.. note::
+   This documentation is still very weak, and needs some help!
+
+.. function:: createConstraint([obj1, [obj2, [restLength, [restitution, [damping]]]]])
+
+   Creates a constraint.
+
+   :arg obj1: first object on Constraint
+   :type obj1: :class:'bge.types.KX_GameObject' #I think, there is no error when I use one
+
+   :arg obj2: second object on Constraint
+   :type obj2: :class:'bge.types.KX_GameObject' #too
+
+   :arg restLength: #to be filled
+   :type restLength: float
+
+   :arg restitution: #to be filled
+   :type restitution: float
+
+   :arg damping: #to be filled
+   :type damping: float
+
+.. attribute:: error
+
+   Simbolic constant string that indicates error.
+
+.. function:: exportBulletFile(filename)
+
+   export a .bullet file
+
+   :arg filename: File name
+   :type filename: string
+
+.. function:: getAppliedImpulse(constraintId)
+
+   :arg constraintId: The id of the constraint.
+   :type constraintId: int
+
+   :return: the most recent applied impulse.
+   :rtype: float
+
+.. function:: getVehicleConstraint(constraintId)
+
+   :arg constraintId: The id of the vehicle constraint.
+   :type constraintId: int
+
+   :return: a vehicle constraint object.
+   :rtype: :class:'KX_VehicleWrapper'
+
+.. function:: removeConstraint(constraintId)
+
+   Removes a constraint.
+
+   :arg constraintId: The id of the constraint to be removed.
+   :type constraintId: int
+
+.. function:: setCcdMode(ccdMode)
+
+   ..note::
+      Very experimental, not recommended
+
+   Sets the CCD mode in the Physics Environment.
+
+   :arg ccdMode: The new CCD mode.
+   :type ccdMode: int
+
+.. function:: setContactBreakingTreshold(breakingTreshold)
+
+   .. note::
+      Reasonable default is 0.02 (if units are meters)
+
+   Sets the contact breaking treshold in the Physics Environment.
+
+   :arg breakingTreshold: The new contact breaking treshold.
+   :type breakingTreshold: float
+
+.. function:: setDeactivationAngularTreshold(angularTreshold)
+
+   Sets the deactivation angular treshold.
+
+   :arg angularTreshold: New deactivation angular treshold.
+   :type angularTreshold: float
+
+.. function:: setDeactivationLinearTreshold(linearTreshold)
+
+   Sets the deactivation linear treshold.
+
+   :arg linearTreshold: New deactivation linear treshold.
+   :type linearTreshold: float
+
+.. function:: setDeactivationTime(time)
+
+   Sets the time after which a resting rigidbody gets deactived.
+
+   :arg time: The deactivation time.
+   :type time: float
+
+.. function:: setDebugMode(mode)
+
+   Sets the debug mode.
+
+   Debug modes:
+      - No debug: 0
+      - Draw wireframe: 1
+      - Draw Aabb: 2 #What's Aabb?
+      - Draw freatures text: 4
+      - Draw contact points: 8
+      - No deactivation: 16
+      - No help text: 32
+      - Draw text: 64
+      - Profile timings: 128
+      - Enable sat comparision: 256
+      - Disable Bullet LCP: 512
+      - Enable CCD: 1024
+      - Draw Constraints: #(1 << 11) = ?
+      - Draw Constraint Limits: #(1 << 12) = ?
+      - Fast Wireframe: #(1 << 13) = ?
+
+   :arg mode: The new debug mode.
+   :type mode: int
+
+.. function:: setGravity(x, y, z)
+
+   Sets the gravity force.
+
+   :arg x: Gravity X force.
+   :type x: float
+
+   :arg y: Gravity Y force.
+   :type y: float
+
+   :arg z: Gravity Z force.
+   :type z: float
+
+.. function:: setLinearAirDamping(damping)
+
+   Not implemented.
+
+.. function:: setNumIterations(numiter)
+
+   Sets the number of iterations for an iterative constraint solver.
+
+   :arg numiter: New number of iterations.
+   :type numiter: int
+
+.. function:: setNumTimeSubSteps(numsubstep)
+
+   Sets the number of substeps for each physics proceed. Tradeoff quality for performance.
+
+   :arg numsubstep: New number of substeps.
+   :type numsubstep: int
+
+.. function:: setSolverDamping(damping)
+
+   ..note::
+      Very experimental, not recommended
+
+   Sets the solver damping.
+
+   :arg damping: New damping for the solver.
+   :type damping: float
+
+.. function:: setSolverTau(tau)
+
+   .. note::
+      Very experimental, not recommended
+
+   Sets the solver tau.
+
+   :arg tau: New tau for the solver.
+   :type tau: float
+
+.. function:: setSolverType(solverType)
+
+   .. note::
+      Very experimental, not recommended
+
+   Sets the solver type.
+
+   :arg solverType: The new type of the solver.
+   :type solverType: int
+
+.. function:: setSorConstant(sor)
+
+   .. note::
+      Very experimental, not recommended
+
+   Sets the sor constant.
+
+   :arg sor: New sor value.
+   :type sor: float
+
+.. function:: setUseEpa(epa)
+
+   Not implemented.